CN207953910U - A kind of purely mechanic transmission three-finger paw of multi link - Google Patents
A kind of purely mechanic transmission three-finger paw of multi link Download PDFInfo
- Publication number
- CN207953910U CN207953910U CN201721256360.3U CN201721256360U CN207953910U CN 207953910 U CN207953910 U CN 207953910U CN 201721256360 U CN201721256360 U CN 201721256360U CN 207953910 U CN207953910 U CN 207953910U
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- China
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- bar
- finger
- rod end
- another
- paw
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Abstract
The purely mechanic transmission three-finger paw of a kind of multi link provided by the utility model, including skeleton and power output two parts, the three identical fingers and pedestal that the skeleton part is made of multiple connecting rods form, each of the finger includes seven connecting rods, finger tip and finger support, by linking together in the hinged mode of specific position between three, the finger support is linked together with the pedestal；The power delivery section is connect disk, gear and servo motor and is formed by identical three power rails, rack, the servo motor is fixed in pedestal, the gear is connected by being keyed with the output end of servo motor, the section of rack that gear connects disk with the rack engages rack has been driven to connect lifting of the disk in vertical direction, and then the movement of three fingers is driven by three power rails, it is simple ingenious with the box-like whole crawl movement for realizing paw of connection rod set.
Description
Technical field
The present invention relates to manipulator fields, and in particular to a kind of three finger mechanical paws of connecting rod configuration.
Background technology
Gradually extensive with the application of mechanical arm, mechanical paw is often matched with various mechanical arms, to meet robot
The various actions that personalize are applied to the fields such as industry, dangerous operation more.During designing gripper, it is real to improve paw configuration
Existing its adaptive security crawl is most important.Existing gripper is most widely used with three-finger paw, but its mostly use chuck,
Cylinder drives, and easily causes that finger portion scope of activities is small, clamps not strongly the problems such as solid, and part refers to grippers again with the three of link transmission
Lead to the drawbacks such as performance is unstable, fragile, adaptivity is low since bar number is few, bar group is simple in structure；Also there is part use
The mechanical paw of free joint type, but the driving in each joint mostly uses motor or wire rope gearing, and it is multiple to easily lead to its control
The problems such as miscellaneous, of high cost.
Therefore, now there is an urgent need for inventing, a kind of purely mechanic transmission of multi link, stability is high, control is simple, finger especially tip
Position activity is flexible, is applicable to capture the three of a variety of objects refers to mechanical paws.
Invention content
The purpose of this utility model is：A kind of purely mechanic transmission three-finger paw of multi link is provided, conventional robot is being met
Under the premise of portion's job requirements, as long as a power source realizes the crawl work(of paw by the purely mechanic transmission of link mechanism
Energy.
The present invention reaches above-mentioned purpose by the following technical programs：A kind of purely mechanic transmission three-finger paw of multi link, packet
Include skeleton and power output two parts.
The three identical fingers and pedestal that the skeleton part is made of multiple connecting rods form.Each of the finger
Including：First bar, the second bar, third bar, the 4th bar, the 5th bar, the 6th bar, the 7th bar, finger tip and finger support.It is described
Finger support is a little connect using fixed hinge with the shaft of first bar, the shaft of the rod end and the first bar of second bar
Another point uses hinge connection, the rod end of the rod end of first bar, the rod end of the third bar and the 4th bar to use
Compound hinges connect, and another rod end of the 4th bar and the rod end of the 6th bar use hinge connection, another rod end of third bar
A little use hinge connection with the shaft of the 5th bar, another rod end of second bar, the 5th bar rod end and
The shaft of 6th bar is a little connected using compound hinges, and the rod end of another rod end of the 5th bar and the 7th bar, which uses, to be cut with scissors
Chain link, another rod end and the finger tip of the 6th bar a little use hinge connection, another rod end and finger tip of the 7th bar
Another point uses hinge connection.The finger support is linked together with the pedestal, the pedestal can be mounted on manipulator or
The crawl function of paw is played on the arm of robot.
The power delivery section is connect disk, gear and servo motor and is formed by identical three power rails, rack.It is described to watch
It takes motor and is fixed in above-mentioned pedestal and reserve for fixing in the space of servo motor, the gear passes through key connection and servo electricity
The output end of machine is connected, and the section of rack that gear connects disk with the rack engages, and the rack connects the disc of the integrated disc portions of disk
Vertical with the length direction of rack, one side and rack one in the disc of two sides, there are three bar fixing end, each fingers for another side
Corresponding to use a fixing end, the both ends of the power rail are another with the fixing end and the first bar of the finger respectively
One rod end is connected.The meshing relation for the section of rack for connecing disk by gear and the rack has driven rack to connect disk in vertical direction
Lifting, and then pass through the movement that three power rails drive three fingers, the whole crawl movement of the paw of realization, mechanism
It is simple ingenious, pass through the ingenious opening and closure for realizing paw of the box-like mechanism of connection rod set.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of the purely mechanic transmission three-finger paw of multi link；
Fig. 2 is a kind of structural schematic diagram of the purely mechanic finger for being driven three-finger paw of multi link under dismounting state；
Fig. 3 is a kind of kinematic sketch of the purely mechanic transmission three-finger paw of multi link.
In figure：Rack connects disk 1, power rail 2, the first bar of finger 3, the 4th bar 4 of finger, finger third bar 5, the 5th bar of finger
6, the 7th bar 7 of finger, finger tip 8, the 6th bar 9 of finger, the second bar of finger 10, fixed hinge 11, finger support 12, servo motor
13, gear 14, pedestal 15.
Specific implementation mode
Technical scheme of the present invention is described further below by way of drawings and examples.
As shown in Figure 1, the purely mechanic transmission three-finger paw of a kind of multi link provided by the present invention, including skeleton and power it is defeated
Go out two parts.
The three identical fingers and pedestal 15 that the skeleton part is made of multiple connecting rods form.The finger is each
Root includes：First bar 3, the second bar 10, third bar 5, the 4th bar 4, the 5th bar 6, the 6th bar 9, the 7th bar 7, finger tip 8 and hand
Refer to bearing 12.The finger support 12 is a little connect using fixed hinge 11 with the shaft of first bar 3, second bar 10
Rod end and the first bar 3 shaft another point use hinge connection, the rod end of first bar 3, the third bar 5 rod end with
And the rod end of the 4th bar 4 is connected using compound hinges, another rod end of the 4th bar 4 and the rod end of the 6th bar 9 use
Hinge connection, another rod end of third bar 5 and the shaft of the 5th bar 6 a little use hinge connection, second bar 10
The shaft of another rod end, the rod end of the 5th bar 6 and the 6th bar 9 is a little connected using compound hinges, the 5th bar 6
The rod end of another rod end and the 7th bar 7 uses hinge connection, 8 one points of another rod end and the finger tip of the 6th bar 9 to adopt
It is hinged, another rod end and 8 another point of finger tip of the 7th bar 7 use hinge connection.The finger support 12 with it is described
Pedestal 15 is linked together, and the pedestal 15 can be mounted on the crawl function that paw is played on the arm of manipulator or robot.
The power delivery section is connect disk 1, gear 14 and servo motor 13 and is formed by identical three power rails 2, rack.
The servo motor 13, which is fixed in above-mentioned pedestal 15, to be reserved for fixing in the space of servo motor 13, and the gear 14 passes through
Key connection is connected with the output end of servo motor 13, and the section of rack that gear 14 connects disk 1 with the rack engages, and the rack connects
The disc of the integrated disc portions of disk 1 is vertical with the length direction of rack, and one side and rack one in the disc of two sides, there are three another sides
Bar fixing end, each finger, which corresponds to, uses a fixing end, the both ends of the power rail 2 respectively with the fixing end with
Another rod end of first bar of the finger is connected.
The pedestal 13 is typically secured on the arm of mechanical arm or robot, when the servo electricity of 15 bottom of pedestal installation
When the output shaft of machine 13 is by acquiescence reverse directions work, the gear 14, which rotates clockwise, drives told rack to connect disk 1 upwards
Movement, is pushed the rotation of the power rail 2, the first bar 3 of the finger is pushed to be rotated centered on fixed hinge 11, to band
Moving the second bar of the finger 10 and the 4th bar 4 of the finger, convergent tendency moves inwardly by both motion orientations, then drives
The 6th bar 9 of the finger rotates counterclockwise, i.e., the described 9 upper end opposed vertical of the 6th bar of finger, while the 5th bar 6 of the finger
With lower end tends to be horizontal, upper end tends to vertical trend movement, the 7th bar 7 of the finger is moved with the movement tendency opened outward,
The finger tip 8 is realized to open the movement of trend outward, then realizes whole foreign minister's trend movement of every finger, entirely
Mechanical paw realizes the expansion action in crawl function.
When the output shaft of the servo motor 13 of 15 bottom of pedestal installation is by acquiescence forward direction work, the gear 14 is done
Rotation drives the rack to connect disk 1 and moves downward counterclockwise, pulls the rotation of the power rail 2, pulls the first of the finger
Bar 3 is rotated centered on fixed hinge 11, makes 10 lower end of the second bar of the finger as the first bar of the finger 3 moves downward,
The movement for having driven the 6th bar 9 of the finger first, the 4th bar 4 of the finger for keeping lower end hinged with it is with the fortune of toe-in
Dynamic trend movement, next makes the upper end of the 5th bar 6 of the finger that the 7th bar 7 of the finger be pushed to be transported with the trend of toe-in
It is dynamic, movement of the finger tip 8 with toe-in trend is realized, the containing trend fortune of entirety of every finger is then realized
Dynamic, entire mechanical paw realizes the closed action in crawl function.
The purely mechanic transmission three-finger paw of a kind of multi link provided by the utility model, multiple connecting rods in the finger
Under conditions of control-rod length, shape, position, finger overall structure degree of freedom is set to be fixed as 1, mechanism is allowing in motion range
Without dead point, movement locus uniquely determines, therefore finger can be made to have determining movement as long as a power source, passes through connecting rod machine
The crawl function of paw is just realized in the purely mechanic transmission of structure.
Claims (2)
1. a kind of purely mechanic transmission three-finger paw of multi link, which is characterized in that including skeleton and power output two parts, the bone
Frame part concrete structure and connection type are：The three identical fingers and pedestal that the skeleton part is made of multiple connecting rods
Composition, each of the finger include：First bar, the second bar, third bar, the 4th bar, the 5th bar, the 6th bar, the 7th bar, finger
Point and finger support；The finger support is a little connect using fixed hinge with the shaft of first bar, second bar
Rod end and the first bar shaft another point use hinge connection, the rod end of first bar, the third bar rod end and
The rod end of 4th bar is connected using compound hinges, and another rod end of the 4th bar and the rod end of the 6th bar are connected using hinge
It connects, another rod end of third bar and the shaft of the 5th bar a little use hinge connection, another rod end of second bar, institute
State the 5th bar rod end and the 6th bar shaft a little using compound hinges connect, another rod end of the 5th bar with it is described
The rod end of 7th bar uses hinge connection, another rod end and the finger tip of the 6th bar a little to use hinge connection, the 7th bar
Another rod end and finger tip another point use hinge connection.
2. a kind of purely mechanic transmission three-finger paw of multi link as described in claim 1, which is characterized in that more in the finger
A connecting rod makes finger overall structure degree of freedom be fixed as 1, movement locus is uniquely true under conditions of control-rod length, shape, position
Fixed, mechanism is allowing, without dead point in motion range, the steady effective of grasping movement to be realized by purely mechanic transmission.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721256360.3U CN207953910U (en) | 2017-09-28 | 2017-09-28 | A kind of purely mechanic transmission three-finger paw of multi link |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721256360.3U CN207953910U (en) | 2017-09-28 | 2017-09-28 | A kind of purely mechanic transmission three-finger paw of multi link |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207953910U true CN207953910U (en) | 2018-10-12 |
Family
ID=63723608
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721256360.3U Expired - Fee Related CN207953910U (en) | 2017-09-28 | 2017-09-28 | A kind of purely mechanic transmission three-finger paw of multi link |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207953910U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111390953A (en) * | 2020-03-23 | 2020-07-10 | 上海大学 | Enveloping type under-actuated robot paw |
| CN113086173A (en) * | 2021-05-12 | 2021-07-09 | 复旦大学 | Multi-functional unmanned aerial vehicle undercarriage and unmanned aerial vehicle |
-
2017
- 2017-09-28 CN CN201721256360.3U patent/CN207953910U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111390953A (en) * | 2020-03-23 | 2020-07-10 | 上海大学 | Enveloping type under-actuated robot paw |
| CN111390953B (en) * | 2020-03-23 | 2022-12-23 | 上海大学 | Enveloping type under-actuated robot paw |
| CN113086173A (en) * | 2021-05-12 | 2021-07-09 | 复旦大学 | Multi-functional unmanned aerial vehicle undercarriage and unmanned aerial vehicle |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181012 Termination date: 20190928 |